Sensor System and Trajectory Control of a Biped Robot

摘要

The development of walking machines comprises nearly all important technical areas due to the interdisciplinary character of these robots. In the following, we give an overview of the technological aspects based on the experiences with the development of the biped JOHNNIE. The objectives are to realize a three-dimensional dynamically stable motion on even and uneven ground and around curves. The control scheme of the anthropomorphic biped robot JOHNNIE is based on a comprehensive mechanical model. In order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. With our new control concept and the new computer system, stable walking can be realized with up to 2.4 km/h and step lengths of 55 cm.